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At the start of Portal 2 coop, GLaDOS wants me to use my ping tool to select my favorite animal, but the help text says the button is Not Assigned. I tried to edit my keyboard controls, but I can't find the Ping Tool in the Edit Keys dialog.

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In the Edit Keys dialog, the Ping Tool is called the "Communications Menu" instead. Assign a key to that (the default is F), and then you'll be able to ping an animal by placing the crosshair on it and pressing that key.

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